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| author | Martin Miller | 2017-04-05 14:08:25 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-05 14:08:25 -0500 |
| commit | 0a4594884adcdef15abe861fc64d74b7511c6055 (patch) | |
| tree | 4d83ef622e84dc440510a5aa909b6b3dabf943b5 /src/body.h | |
| parent | 84782fff8f5838a0d58f3c32a558ed29d2a7e9d1 (diff) | |
| download | refslam-0a4594884adcdef15abe861fc64d74b7511c6055.zip refslam-0a4594884adcdef15abe861fc64d74b7511c6055.tar.gz | |
Improved process noise modeling
Diffstat (limited to 'src/body.h')
| -rw-r--r-- | src/body.h | 4 |
1 files changed, 4 insertions, 0 deletions
@@ -4,6 +4,10 @@ #include <iostream> #include "types.h" #define R_HEIGHT 2.5e-3 /* measurement noise of height measurement */ +#define ACC_STD 28e-3 +#define ANG_STD 80e-6 +#define ACC_BIAS_STD 22e-3 +#define ANG_BIAS_STD 7e-6 #define IMU_NOISE 800e-6 /* IMU process noise */ #define IMU_RANDOMWALK 50e-6 /* Bias process noise */ //#define DOCLAMP |